Driving support system

Abstract

To notify an appropriate feedback regarding a driving operation of a vehicle driver without relying on a travel log.SOLUTION: A driving support system acquires a vehicle control content that would be assumed in the event of automatic operation control while a driver is performing a manual driving operation of a vehicle. The driving support system acquires a content of driver's operation, which is information about the driver's vehicle operation actions while the driver is performing the manual driving operation of the vehicle. The driving support system provides feedback to the driver regarding their driving operation based on a result of comparing the vehicle control content and the driver operation content.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a technology for providing a driver of a vehicle with feedback regarding driving operations. [Background technology]

[0002] Patent Document 1 discloses a guidance system that provides guidance on driving operations to a driver who is driving a vehicle. The guidance system notifies the driver of the operation content determined based on the current state of the vehicle and past driving records. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-140159 Summary of the Invention [Problem to be solved by the invention]

[0004] Feedback (notification) based on driving records is not necessarily optimal because it is not based on the actual state of the target vehicle. In particular, if there are few driving records accumulated for that road, the validity of the feedback is expected to decrease.

[0005] One object of the present disclosure is to provide appropriate feedback to a driver regarding the driving operation of the vehicle in a manner that does not depend on driving records. [Means for solving the problem]

[0006] The first aspect relates to a driving assistance system for a vehicle driver. The driving assistance system includes a control device having an automatic driving control function. The control device acquires vehicle control details assuming that automatic driving control is performed while the driver is manually driving the vehicle. The control device acquires driver operation details, which are details of the driver's vehicle driving operations, while the driver is manually driving the vehicle. The control device provides the driver with feedback regarding the driving operation based on the result of comparing the vehicle control content with the driver operation content. [Effects of the Invention]

[0007] According to a first aspect, a driving assistance system provides feedback to a driver while the driver is manually driving a vehicle based on a comparison between vehicle control details that would be performed if automatic driving control were performed and the driver's operation details. The vehicle control details are determined based on the current vehicle state, not the driving record, so it is possible to provide appropriate feedback to the driver without relying on the driving record. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a conceptual diagram for explaining an overview of a driving assistance system according to an embodiment of the present invention. [Figure 2] 3 is a block diagram showing an example of driving environment information according to the present embodiment; FIG. [Figure 3] FIG. 2 is a schematic diagram illustrating how the driving assistance system according to the present embodiment notifies the driver of feedback. [Figure 4] FIG. 4 shows the situation in FIG. 3 in more detail. [Figure 5] 2 is a block diagram showing a detailed configuration example of the driving assistance system according to the present embodiment. FIG. [Figure 6] FIG. 10 is a block diagram showing a modified example of the driving assistance system according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0010] 1. Driving assistance systems 1 is a conceptual diagram for explaining an overview of a driving assistance system 10 according to this embodiment. The driving assistance system 10 controls a vehicle 1. Typically, the driving assistance system 10 is mounted on the vehicle 1.

[0011] The driving assistance system 10 includes a sensor group 20, an HMI (Human-Machine Interface) unit 30, a traveling device 50, a communication device 60, and a control device 70. At least the sensor group 20, the HMI unit 30, the traveling device 50, and the communication device 60 are mounted on a vehicle 1.

[0012] The traveling device 50 (actuator) includes a steering device, a drive device, and a braking device. The steering device steers the wheels. For example, the steering device includes an electric power steering (EPS) device. The drive device is a power source that generates driving force. Examples of the drive device include an engine, an electric motor, and an in-wheel motor. The braking device generates braking force.

[0013] The sensor group 20 includes a recognition sensor 21, a vehicle state sensor 22, a position sensor 23, and a driver operation sensor 24. The recognition sensor 21 recognizes (detects) the situation around the vehicle 1. Examples of the recognition sensor 21 include a camera, a LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The vehicle state sensor 22 detects the state of the vehicle 1. For example, the vehicle state sensor 22 includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The position sensor 23 detects the position and orientation of the vehicle 1. For example, the position sensor 23 includes a GNSS (Global Navigation Satellite System).

[0014] The driver operation sensor 24 acquires whether or not a driving operation has been performed by the driver of the vehicle 1 and the amount of that operation. For example, the driver operation sensor 24 includes an accelerator opening sensor, an engine speed sensor, a braking force sensor, an EPS torque sensor, etc. While the driver is manually driving, the presence or absence of a driving operation by the driver and the amount of that operation can be acquired based on changes in the accelerator opening, engine speed, braking force, EPS torque, etc. As another example, the driver operation sensor 24 may include a steering sensor that detects the amount of steering of the steering wheel, an accelerator pedal sensor that detects the amount of accelerator pedal stroke, and a brake pedal sensor that detects the amount of brake pedal stroke.

[0015] The HMI unit 30 is an interface for providing information to the driver of the vehicle 1 and for receiving information from the driver. Specifically, the HMI unit 30 has an input device and an output device. Examples of the input device include a touch panel, a switch, a microphone, etc. Examples of the output device include a display device, a speaker, an in-vehicle LED, etc. Examples of the display device include a liquid crystal panel, an organic EL panel, etc. The HMI unit 30 may include a HUD (Head Up Display), a vibration device, etc.

[0016] The communication device 60 communicates with the outside via a communication network. Examples of communication methods include mobile communication such as 5G and wireless LAN.

[0017] The control device 70 is a computer that controls the vehicle 1. Typically, the control device 70 is mounted on the vehicle 1. However, a part of the control device 70 may be disposed in an external device and control the vehicle 1 remotely. The control device 70 executes various processes. For example, the control device 70 includes processing circuitry such as a CPU (Central Processing Unit). The processing circuitry may also be called a processor. The control device 70 includes one or more storage devices 72 (hereinafter simply referred to as storage devices 72). The storage devices 72 store various types of information. Examples of the storage devices 72 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0018] The control program 80 is a computer program for controlling the vehicle 1. The functions of the control device 70 may be realized by cooperation between the control device 70, which executes the control program 80, and the storage device 72. The control program 80 is stored in the storage device 72. Alternatively, the control program 80 may be recorded on a computer-readable recording medium.

[0019] The control device 70 acquires driving environment information 90 that indicates the driving environment of the vehicle 1. The driving environment information 90 is stored in the storage device 72.

[0020] 2 is a block diagram showing an example of driving environment information 90. The driving environment information 90 includes map information 91, surrounding situation information 92, vehicle state information 93, and vehicle position information 94.

[0021] The map information 91 includes a general navigation map. The map information 91 may indicate lane layouts and road shapes. The map information 91 may also include location information for structures, traffic lights, signs, and the like. The control device 70 acquires the map information 91 for a required area from a map database. The map database may be stored in the storage device 72, or may be stored in a map management device external to the vehicle 1. In the latter case, the control device 70 communicates with the map management device via the communication device 60 to acquire the required map information 91.

[0022] The surrounding situation information 92 is information obtained based on the recognition result by the recognition sensor 21, and indicates the situation around the vehicle 1. The control device 70 recognizes the situation around the vehicle 1 using the recognition sensor 21 and acquires the surrounding situation information 92. For example, the surrounding situation information 92 includes an image IMG captured by a camera. As another example, the surrounding situation information 92 includes point cloud information obtained by LIDAR.

[0023] The surrounding situation information 92 further includes object information OBJ related to objects (targets) around the vehicle 1. Examples of objects include pedestrians, bicycles, motorcycles, other vehicles (preceding vehicles, parked vehicles, etc.), white lines, traffic lights, structures (e.g., utility poles, pedestrian bridges), signs, and obstacles. The object information OBJ indicates the relative position and relative speed of the object with respect to the vehicle 1. For example, by analyzing images IMG acquired by a camera, it is possible to identify the object and calculate the relative position of the object. It is also possible to identify the object and obtain the relative position and relative speed of the object based on point cloud information acquired by LIDAR. The control device 70 may track the recognized object. In this case, the object information OBJ also includes trajectory information of the recognized object.

[0024] The vehicle state information 93 is information detected by the vehicle state sensor 22 and indicates the state of the vehicle 1. The state of the vehicle 1 includes the vehicle speed, acceleration, yaw rate, steering angle, etc. The control device 70 acquires the vehicle state information 93 from the vehicle state sensor 22. The vehicle state information 93 may indicate the driving state (automatic driving / manual driving) of the vehicle 1.

[0025] The vehicle position information 94 is information indicating the current position of the vehicle 1. The control device 70 acquires the vehicle position information 94 from the detection results of the position sensor 23. The control device 70 may also acquire highly accurate vehicle position information 94 by a well-known self-position estimation process (Localization) that uses the object information OBJ and the map information 91.

[0026] The control device 70 also performs vehicle driving control to control the driving of the vehicle 1. The vehicle driving control includes steering control, acceleration control, and deceleration control. The control device 70 performs vehicle driving control by controlling the traveling device 50 (steering device, drive device, braking device). More specifically, the control device 70 calculates the control amount (actuator control amount) of the traveling device 50 and controls the traveling device 50 in accordance with the actuator control amount.

[0027] Furthermore, the control device 70 performs automatic driving control to control automatic driving of the vehicle 1. Here, automatic driving means that at least a part of the steering, acceleration, and deceleration of the vehicle 1 is performed automatically, independent of the driver's operation. As an example, automatic driving of level 3 or higher may be performed. The control device 70 generates a driving plan for the vehicle 1 based on the driving environment information 90. Examples of the driving plan include maintaining the current driving lane, changing lanes, making right or left turns, and avoiding collisions with objects. More specifically, the driving plan includes a route plan and a speed plan for the vehicle 1. The route plan is a set of target positions for the vehicle 1. The speed plan is a set of target speeds for each target position. The combination of the route plan and the speed plan is also called a "target trajectory." In other words, the target trajectory includes the target position and target speed of the vehicle 1. The control device 70 performs vehicle driving control so that the vehicle 1 follows the target trajectory TR. The control device 70 may perform automatic driving control while performing optimization using model predictive control (MPC).

[0028] 2. Feedback Notifications 2-1. Feedback Notification Overview FIG. 3 is a schematic diagram illustrating how the driving assistance system 10 notifies the driver of the feedback FB. The vehicle 1 is equipped with the driving assistance system 10, and is assumed to be in a state of manual driving by the driver. When the vehicle 1 enters a curve from a straight section, the driver needs to operate the brakes to decelerate the vehicle 1 in order to safely exit the curve. The optimal braking operation in this case depends on the current state of the vehicle 1 (vehicle speed, acceleration, yaw rate, steering angle, etc.). The braking operation includes at least the timing and amount of braking operation. The driver performs a braking operation that he or she thinks is appropriate, but does not know how much the braking operation differs from the optimal operation.

[0029] Therefore, the driving assistance system 10 according to the present disclosure acquires optimal driving operation details through calculations based on automatic driving control. The driving assistance system 10 compares the acquired optimal driving operation details with the actual driving operation details performed by the driver, and notifies the driver of feedback FB regarding the driving operation performed by the driver. This feedback FB is based on the current state of the vehicle 1, and therefore is more relevant than feedback based on past driving records. Driving operations that are the subject of feedback FB from the driving assistance system 10 include accelerator operation, steering operation, and the like, in addition to the braking operation exemplified above. Specific aspects of this are described below.

[0030] The control device 70 acquires vehicle control details assuming that automatic driving control is performed. In the example of FIG. 3, the control device 70 included in the driving assistance system 10 generates a target trajectory TR. The control device 70 performs automatic driving control so that the vehicle 1 follows the target trajectory TR. As described above, the target trajectory is generated based on the driving environment information 90, and therefore, it can be said to be an optimal trajectory generated based on the current state of the vehicle 1.

[0031] The control device 70 acquires vehicle control details (hereinafter referred to as "assumed control details") when it is assumed that automatic driving control is performed. In the example of Fig. 3, the control device 70 acquires vehicle control details required when it is assumed that the vehicle 1 travels following the target trajectory TR under automatic driving control. The vehicle control details include the timing and amount of control for the traveling device 50 (actuator).

[0032] The control device 70 calculates the operation content of the traveling device 50 (actuator) corresponding to the assumed control content. The operation content of the actuator corresponding to the assumed control content can be said to be the optimum operation content when the driver performs driving operation. Therefore, hereinafter, the operation content of the actuator corresponding to the assumed control content will be referred to as the "optimum operation content." Note that in the autonomous driving control, the control device 70 controls the behavior of the vehicle 1 by controlling the operation of the actuator so that the vehicle 1 follows the target trajectory TR. Therefore, it can be said that the optimum operation content is included in the assumed control content.

[0033] The control device 70 acquires the driver operation details, which are details of the driving operation of the vehicle 1 by the driver, via the driver operation sensor 24. The driver operation details are the operation details of the traveling device 50 (actuator) that the driver actually operates, and include the timing of the driving operation by the driver and the amount of operation.

[0034] The control device 70 compares the optimum operation content with the driver's operation content. Based on the comparison result, the control device 70 notifies the driver of feedback FB regarding the driving operation. Examples of the feedback FB include that the timing of the driver's operation is too early / too late, or that the amount of driver operation is too small / too large. The feedback FB is notified, for example, via the HMI unit 30. Examples of notifications via the HMI unit 30 include audio notifications using a speaker and visual displays (meters, displays, interior LEDs, etc.). Alternatively, notifications may be made by vibrating the steering wheel or seat in a specific pattern.

[0035] 2-2.Effects As described above, the driving assistance system 10 notifies the driver of feedback FB regarding the driving operation based on the current state of the vehicle 1. Patent Document 1 discloses a system that provides feedback by referring to past driving records of the same driving route. However, the driving records referenced by such a system are not based on the actual state of the target vehicle, and therefore are not necessarily optimal feedback. In particular, if there are few driving records accumulated for that driving route, the validity of the feedback is expected to further decrease. On the other hand, the driving assistance system 10 of the present disclosure notifies the driver of feedback FB based on the actual vehicle state of the vehicle 1. This makes it possible to provide appropriate feedback FB without relying on driving records.

[0036] The driving assistance system 10 is particularly effective for providing guidance to trainee drivers. If the driving operation of the trainee does not conform to the optimal operation content, the driving assistance system 10 notifies the trainee of feedback FB regarding the good or bad timing of the operation and the strength of the operation. Since the trainee can train while checking the difference between his or her own operation and the optimal operation content, it is expected that the trainee will be able to improve his or her driving skills efficiently. Note that the places where the driving assistance system 10 can be applied are not limited to specific areas such as driving schools.

[0037] 3. Operation amount and operation timing Fig. 4 is a diagram showing the situation in Fig. 3 in more detail. In the example of Fig. 4, the vehicle control timing (brake control timing) based on the assumed control content is time t1. Furthermore, the vehicle control amount (brake control amount) based on the assumed control content at time t1 is control amount C1. In other words, assuming that the vehicle 1 is under automatic driving control, the control device 70 will perform brake control of the control amount C1 at time t1 to make the vehicle 1 follow the target trajectory TR.

[0038] The control device 70 calculates optimal operation details, which are operation details of the actuators corresponding to the assumed control details. In Fig. 4, the optimal actuator operation amount AC1 is calculated based on the control amount C1. In other words, the control device 70 calculates the optimal operation details (t1, AC1) from the assumed control details (t1, C1). Therefore, it can be said that the closer the driver's operation details are to the optimal operation details calculated by the control device 70, the closer the driver's driving operation is to ideal.

[0039] The driving assistance system 10 compares the driver's operation (including the timing and amount of the driving operation) with a predetermined range including the optimal operation, and determines whether or not to provide feedback FB and the content of the feedback. When the driver's operation is outside the predetermined range, the system issues feedback FB indicating that the driver's operation is inappropriate. When the driver's operation is within the predetermined range, the system may issue feedback FB indicating that the driver's operation is appropriate.

[0040] In FIG. 4, the optimal operation OPr indicates optimal operation content (t1, AC1). A time range including time t1 is defined as a first range R1. A range of operation amount including the actuator operation amount AC1 is defined as a second range R2. When the driver performs an operation OP1, the operation timing is within the first range R1 (appropriate), and the operation amount is outside the second range R2 (excessive). Feedback FB indicating that the operation amount is excessive is notified. At this time, feedback indicating that the operation timing is appropriate may also be provided. When the driver performs an operation OP2, the operation timing is outside the first range R1 (late), and the operation amount is outside the second range R2 (too small). Feedback FB indicating that the operation timing is too small is notified. When the driver performs an operation OP3, the operation timing is within the first range and the operation amount is within the second range. In this case, feedback FB indicating that the driver's operation content is appropriate (e.g., GOOD) may be notified. Furthermore, if no operation by the driver is detected for a predetermined period of time from time t1, the control device 70 may determine that no operation has been performed by the driver, and may notify the driver of feedback FB to prompt the driver to perform an operation.

[0041] It should be noted that the first range and the second range do not necessarily have to be centered on the optimal operation content. For example, in braking, if the operation timing is early, it means that the vehicle 1 will start to decelerate early. This can be said to be a deviation on the "safe side." On the other hand, if the brake operation timing is late, the vehicle 1 will start to decelerate late, which can be said to be a deviation on the "dangerous side." Therefore, it makes sense to set a wider tolerance range for operations that are safer than the optimal operation content, and a narrower tolerance range for operations that are dangerous than the optimal operation content.

[0042] 4. Example of a driver assistance system configuration FIG. 5 is a block diagram showing a detailed configuration example of the driving assistance system 10. As shown in FIG.

[0043] The control content acquisition unit 71 acquires various information from the recognition sensor 21, the vehicle state sensor 22, and the position sensor 23. The target trajectory generation unit 71a generates a target trajectory TR based on the information acquired by the control content acquisition unit 71. The control content acquisition unit 71 acquires assumed control content based on the generated target trajectory TR. Furthermore, the optimal operation content acquisition unit 71b calculates optimal operation content based on the assumed control content.

[0044] The driver operation content acquisition unit 73 acquires information about the driver operation content from the driver operation sensor 24. The driver operation content includes the operation timing and operation amount of the driver.

[0045] The notification determination unit 74 receives the optimum operation content from the control content acquisition unit 71 and the driver operation content from the driver operation content acquisition unit 73. The notification determination unit 74 compares the driver operation content with the optimum operation content. Based on the comparison result, the notification determination unit 74 determines whether to provide a notification including feedback FB and the content of the feedback FB. As shown in FIG. 4 , the conditions for notifying the feedback FB and the content of the feedback FB may be determined based on a comparison between the driver's operation content and a predetermined range including the optimum operation content. When notifying the feedback FB, the notification determination unit 74 notifies the feedback FB via the HMI unit 30.

[0046] FIG. 6 is a block diagram showing a modified example of the driving assistance system 10. In the example shown in FIG. 6, the driving assistance system 10 always notifies the driver of the optimal operation content. Therefore, unlike the example in FIG. 5, the driver operation content acquisition unit 73 and the notification determination unit 74 are not required. In this case, the driver can always know the optimal operation content regardless of the driver's own operation content. The form of notification of the feedback FB is preferably a method that the driver does not find bothersome. For example, a method of notifying the driver by changing the color of an in-vehicle LED is preferable to a method of notifying the driver by voice.

[0047] Furthermore, a machine learning model may calculate the optimal operation content based on the information acquired by the sensor group 20. By using a machine learning model in combination, the optimal operation content can be determined taking into consideration the individual driving habits of the driver and the characteristics of the vehicle 1.

[0048] In addition, at least some of the settings related to the feedback FB may be changeable by the driver. For example, the first range R1 and the second range R2 may be adjustable according to the driver's preferences. Through such settings, the driver can adjust the frequency and content of notifications appropriately for themselves. [Explanation of symbols]

[0049] 1: Vehicle 10: Driving assistance system 20: Sensor group 24: Driver operation sensor 30: HMI unit 50: Running gear 70: Control device 71: Control content acquisition unit 73: Driver operation content acquisition unit 74: Notification determination section 90: Driving environment information FB: Feedback TR: target trajectory

Claims

1. A driving assistance system for a driver of a vehicle, comprising: A control device having an automatic driving control function is provided, The control device, during manual driving of the vehicle by the driver, Acquire vehicle control details assuming that the automatic driving control is performed; acquires driver operation details, which are details of driving operations of the vehicle by the driver; Based on a result of comparing the vehicle control content with the driver's operation content, feedback regarding the driving operation is provided to the driver. It was configured as Driver assistance system.

2. The driving assistance system according to claim 1, The driver operation content includes a driving operation timing, the vehicle control content includes vehicle control timing, If the driving operation timing is outside a first range that includes the vehicle control timing, the control device issues the feedback indicating that the driving operation timing is inappropriate. Driver assistance system.

3. 3. The driving assistance system according to claim 1 or 2, The driver operation content includes a driving operation amount, the vehicle control content includes a vehicle control amount, If the driving operation amount is outside a second range including the vehicle control amount, the control device notifies the driver of the feedback indicating that the driving operation amount is inappropriate. Driver assistance system.

4. The driving assistance system according to claim 1, At least a part of the feedback settings can be changed by the driver. Driver assistance system.

5. A driving assistance system for a driver of a vehicle, comprising: A control device having an automatic driving control function is provided, The control device, during manual driving of the vehicle by the driver, Acquire vehicle control details assuming that the automatic driving control is performed; Notifying the driver of the vehicle control content It was configured as Driver assistance system.

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